US20090315501A1 - Robot battery charging station and robot for use therewith - Google Patents
Robot battery charging station and robot for use therewith Download PDFInfo
- Publication number
- US20090315501A1 US20090315501A1 US12/264,917 US26491708A US2009315501A1 US 20090315501 A1 US20090315501 A1 US 20090315501A1 US 26491708 A US26491708 A US 26491708A US 2009315501 A1 US2009315501 A1 US 2009315501A1
- Authority
- US
- United States
- Prior art keywords
- robot
- charging station
- battery charging
- power source
- control device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D34/00—Mowers; Mowing apparatus of harvesters
- A01D34/006—Control or measuring arrangements
- A01D34/008—Control or measuring arrangements for automated or remotely controlled operation
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2805—Parameters or conditions being sensed
- A47L9/2831—Motor parameters, e.g. motor load or speed
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2868—Arrangements for power supply of vacuum cleaners or the accessories thereof
- A47L9/2873—Docking units or charging stations
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L9/00—Details or accessories of suction cleaners, e.g. mechanical means for controlling the suction or for effecting pulsating action; Storing devices specially adapted to suction cleaners or parts thereof; Carrying-vehicles specially adapted for suction cleaners
- A47L9/28—Installation of the electric equipment, e.g. adaptation or attachment to the suction cleaner; Controlling suction cleaners by electric means
- A47L9/2894—Details related to signal transmission in suction cleaners
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/52—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by DC-motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/10—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
- B60L53/16—Connectors, e.g. plugs or sockets, specially adapted for charging electric vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/02—Docking stations; Docking operations
- A47L2201/022—Recharging of batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/40—Working vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/32—Auto pilot mode
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/14—Plug-in electric vehicles
Definitions
- the present invention relates to robots, and particularly, to a robot battery charging station.
- Autonomous machines and devices such as autonomous robots, have been designed for performing various industrial and domestic functions. These domestic functions include lawn mowing, vacuum cleaning, floor sweeping and general maintenance.
- Autonomous robots typically operate in accordance with various computer programs that are part of the operating system of the robots. Additionally, many of these autonomous robots are battery powered, and need to be recharged once they are out of battery power. Additionally, when out of battery power, these autonomous robots are immobilized where the power ran out and may be troublesome to locate or reach.
- the autonomous robots must be located and manually brought to the charging unit, which is typically an electrical outlet. This process is time-consuming, in addition to the time spent waiting for the robot to fully recharge.
- FIG. 1 is a schematic view of a battery charging station according to an exemplary embodiment.
- FIG. 2 is a schematic exploded view of a robot according to an exemplary embodiment.
- FIG. 3 is a schematic bottom view of the robot of FIG. 2 .
- FIG. 4 is a schematic view of charging the robot of FIG. 2 .
- FIGS. 5-6 are schematic views detailing movement of the robot during charging.
- the battery charging station 110 for receiving a robot or a suitable autonomous machine to charge in accordance with one embodiment of the invention is shown.
- the battery charging station 110 includes a base 112 , two barriers 114 , a stop 116 and a supporting arm 118 .
- the base 112 , the barriers 114 , the stop 116 and the supporting arm 118 are typically made from plastic material and joined by mechanical techniques or chemical fasteners.
- the base 112 includes an inclined portion 112 a and a docking portion 112 b joined with the inclined portion 112 a .
- the docking portion 112 b defines a flat surface 112 c for docking the robot.
- the inclined portion 112 a is configured for allowing the robot to easily climb to the docking portion 112 b for charging, when low on battery power.
- the barriers 114 are configured for guiding the robot to the correct position when docking.
- the barriers 114 are separately mounted on docking portion 112 b of the base 112 and together with the inclined portion 112 a to form a passage for the robot.
- Each barrier 114 includes a guiding portion 114 a and a locating portion 114 b connected on an end of the guiding portion 114 a .
- the guiding portions 114 a are inclined with respect to and facing away from the corresponding connected locating portion 114 b.
- the stop 116 is configured for preventing the robot from travelling beyond the battery charging station during docking.
- the stop 116 is mounted on the docking portion 112 b of the base 112 , against the barriers 114 , but away from the inclined portion of the base 112 .
- the base 112 , the barriers 114 and the stop 116 collectively form a docking space 120 for receiving the robot.
- the supporting arm 118 is mounted on an upper portion of the stop 116 by one end thereof.
- the other end of the supporting arm 118 protrudes above the docking space 120 and is configured for supporting a charging connector 122 thereon for supplying power to the robot when charging.
- the distance between the charging connector 122 with respect to the stop 116 is equal to that of the charging connector 122 with respect to each locating portion 114 b of the barriers 114 .
- the charging connector 122 may be connected to an external power source, such as an electrical outlet, via cord or other connection medium.
- the battery charging station 110 further includes a transmitter 124 located on the supporting arm 118 and is configured for emitting identifiable signals, for the robot to determine the location of the battery charging station 110 , and for the robot to navigate along a predefined pathinto the battery charging station 110 .
- the signals may be a radio signal, a light signal, or any other signal whose intensity is greatest when closest to its transmission source.
- the robot 140 includes a round-shaped chassis 142 and a hemispherical shell 144 positioned over the chassis 142 and covering the chassis 142 .
- the center of the shell 144 is aligned with the center of the chassis 142 and the diameter of the shell is equal to or less than that of the chassis.
- the radius of the chassis 142 is equal to the distances of the charging connector 122 with respect to both the barriers 114 and the stop 116 .
- the charging connector 122 battery charging station aligns with the center portion of the shell 144 and electrically couples to the charging elements in the center portion of the shell 144 , thus enabling an electrical connection between the robot 140 and the battery charging station 110 .
- the chassis 142 includes an upper surface 142 a and a lower surface 142 b on the flip side of the upper surface 142 a .
- Three wheels 146 are rotatably mounted on the lower surface 142 b and can be driven by a driving motor (not shown) to drive the robot to move.
- the chassis 142 also includes three extendable legs 148 which can be extended for lifting the robot 140 to electrically connect the robot 140 to the battery charging station 110 for charging.
- the length of the legs 148 with respect to the lower surface 142 b of the chassis 142 is longer than that of the wheels 146 when the legs 148 are extended.
- the extendable legs 148 may be any other types of extensible structure which can be adjusted in length, such as telescopic or folding legs.
- the legs 148 are capable of extending automatically via the driving motors (not shown in the figures).
- an extending device 150 carries out the automatic expansion of the legs 148 .
- the extending device 150 includes a substrate 152 , a driven portion 156 and a driving motor 160 .
- the substrate 152 includes a first surface 152 a and a second surface 152 b corresponding to the first surface 152 a .
- the substrate 152 defines a through hole 154 on the center portion thereof and is stacked on the upper surface 142 a of the chassis 142 via the second surface 152 b .
- the driven portion 156 is formed on the upper surface 142 a and protrudes out from the substrate 152 by running through the through hole 154 of the substrate 152 .
- a toothed bar 158 is formed on the side wall of the driven portion 156 along a direction parallel to the axis of the driven portion 156 .
- the driving motor 160 is mounted on the first surface 152 a of the substrate 152 and has a shaft 162 and a gear 164 connected to an end of the shaft 162 .
- the gear 164 of the driving motor 160 is engaged with the toothed bar 158 .
- the legs 148 are separately mounted on the second surface 152 b of the substrate 152 and partially extends through the chassis 142 from the corresponding hole 145 defined on the chassis 142 .
- the gear 164 is rotated by the shaft 162 of the driving motor 160 , the driven portion 156 can move upwards or downwards with respect to the gear 164 .
- the chassis 142 connected with the driven portion 156 moves following the movement of the driven portion 156 .
- the legs 148 can extend or retract from chassis 142 and lifts or lowers the chassis 142 of the robot 140 .
- the robot 140 can automatically establish an electrical connection with the charging connector 122 of the battery charging station 110 for charging.
- the robot 140 also includes a detection sensor 166 and a control device 168 , both of which are attached on the first surface 152 a of the substrate 152 .
- the control device 168 is configured for controlling the robot 140 to charge automatically when the power of the robot drops to a predefined level.
- the detection sensor 166 is configured for detecting and receiving the signals emitted from the transmitter 124 , subsequently transmitting those signals to the control device 168 for further processing.
- the control device 168 is configured for receiving the signals detected by the detection sensor 166 and determining the location of the robot 140 with respect to the battery charging station 110 according to the signals, subsequently driving the robot 140 to move towards the battery charging station 110 by traveling along a predefined traveling trace, and controlling the legs to elongate and uplift the robot 140 for charging power.
- a navigation system 168 a and a drive system 168 b can be coordinated in the control device 168 to move the robot 140 into the battery charging station 110 .
- the shell 144 is mounted over the upper surface 142 a of the chassis 142 and covers those elements mounted on the upper surface 142 a of the chassis 142 between the shell 144 and the chassis 142 .
- the shell 144 includes an outer surface 144 a and an inner surface (not shown).
- the charging elements such as electrical conductive charging pads 170 , are disposed on the dome point 144 b on the outer surface 144 a of the shell 144 .
- An electrode 172 is formed on the center portion of the charging pad 170 in isolation.
- the charging pad 170 and the electrode 172 are configured for charging a power source (not shown) of the robot 140 when the charging pad 170 and the electrode 172 are collectively and electrically coupled to the charging connector 122 .
- the power source is mounted on the inner surface of the shell 114 and electronically connected to those driving motors adopted in the robot 140 through the control device 168 for supplying power to the robot 140 .
- the power source is electrically coupled to the charging pad 170 and the electrode 172 and can be recharged by the battery charging station 110 .
- the robot 140 can also include a voltage sensor 145 mounted on the inner surface of the shell 144 that is electrically coupled to the power source and the control device 168 .
- the voltage sensor 145 is configured for detecting the voltage of the power source and sending the detected signal to the control device 168 when the voltage of the power source is below a predetermined voltage or the power source has been fully recharged.
- the robot 140 can also be programmed to dock to the battery charging station 110 for charging when: 1) its operation has been complete (the operation is predefined); 2) its battery voltage reaches or drops to a predetermined threshold; or 3) a predetermined time for operation has expired.
- the control device 168 drives the robot 140 to move towards the battery charging station 110 along a predetermined path when the robot need to dock.
- the robot 140 climbs on the inclined portion 112 a and then arrives to the docking portion 112 b of the base 112 along the barriers 114 .
- the chassis 142 of the robot 142 touches the stop 116 of the battery charging station 110
- the robot 140 stops moving and is received in the docking space 120
- the charging pad 170 and the electrode 172 of the robot 140 are aligned with the charging connector 122 .
- the extendable legs 148 are extended by the driving motor 160 to lift the robot 140 , and the charging pad 170 and the electrode 172 are raised following the lifting of the robot 140 .
- the driving motor 160 stops, and the robot 140 is recharged by the battery charging station 110 .
- the voltage sensor 145 detects that the power source of the robot 140 has been fully recharged
- the voltage sensor 145 sends a signal to the control device 168 indicating the power source of the robot 140 has been fully recharged.
- the control device 168 controls the legs 148 to retract to their original state by the driving motor 160 .
- the fully recharged robot 140 can be set to resume operation from the battery charging station 110 , typically by the control device 168 , the navigation system 168 a , and the drive system 168 b.
Abstract
Description
- 1. Technical Field
- The present invention relates to robots, and particularly, to a robot battery charging station.
- 2. Description of the Related Art
- Autonomous machines and devices, such as autonomous robots, have been designed for performing various industrial and domestic functions. These domestic functions include lawn mowing, vacuum cleaning, floor sweeping and general maintenance.
- Autonomous robots typically operate in accordance with various computer programs that are part of the operating system of the robots. Additionally, many of these autonomous robots are battery powered, and need to be recharged once they are out of battery power. Additionally, when out of battery power, these autonomous robots are immobilized where the power ran out and may be troublesome to locate or reach.
- As a result, the autonomous robots must be located and manually brought to the charging unit, which is typically an electrical outlet. This process is time-consuming, in addition to the time spent waiting for the robot to fully recharge.
- Therefore, it is desired to design a robots battery charging stations and robots for use therewith which are capable of charging automatically when out of battery power.
-
FIG. 1 is a schematic view of a battery charging station according to an exemplary embodiment. -
FIG. 2 is a schematic exploded view of a robot according to an exemplary embodiment. -
FIG. 3 is a schematic bottom view of the robot ofFIG. 2 . -
FIG. 4 is a schematic view of charging the robot ofFIG. 2 . -
FIGS. 5-6 are schematic views detailing movement of the robot during charging. - Referring to
FIG. 1 , abattery charging station 110 for receiving a robot or a suitable autonomous machine to charge in accordance with one embodiment of the invention is shown. Thebattery charging station 110 includes abase 112, twobarriers 114, astop 116 and a supportingarm 118. Thebase 112, thebarriers 114, thestop 116 and the supportingarm 118 are typically made from plastic material and joined by mechanical techniques or chemical fasteners. - The
base 112 includes aninclined portion 112 a and adocking portion 112 b joined with theinclined portion 112 a. Thedocking portion 112 b defines aflat surface 112 c for docking the robot. Theinclined portion 112 a is configured for allowing the robot to easily climb to thedocking portion 112 b for charging, when low on battery power. - The
barriers 114 are configured for guiding the robot to the correct position when docking. Thebarriers 114 are separately mounted ondocking portion 112 b of thebase 112 and together with theinclined portion 112 a to form a passage for the robot. Eachbarrier 114 includes a guidingportion 114 a and a locatingportion 114 b connected on an end of the guidingportion 114 a. The guidingportions 114 a are inclined with respect to and facing away from the corresponding connected locatingportion 114 b. - The
stop 116 is configured for preventing the robot from travelling beyond the battery charging station during docking. Thestop 116 is mounted on thedocking portion 112 b of thebase 112, against thebarriers 114, but away from the inclined portion of thebase 112. Thebase 112, thebarriers 114 and thestop 116 collectively form adocking space 120 for receiving the robot. - The supporting
arm 118 is mounted on an upper portion of thestop 116 by one end thereof. The other end of the supportingarm 118 protrudes above thedocking space 120 and is configured for supporting acharging connector 122 thereon for supplying power to the robot when charging. The distance between thecharging connector 122 with respect to thestop 116 is equal to that of thecharging connector 122 with respect to each locatingportion 114 b of thebarriers 114. Thecharging connector 122 may be connected to an external power source, such as an electrical outlet, via cord or other connection medium. - In addition, the
battery charging station 110 further includes atransmitter 124 located on the supportingarm 118 and is configured for emitting identifiable signals, for the robot to determine the location of thebattery charging station 110, and for the robot to navigate along a predefined pathinto thebattery charging station 110. The signals may be a radio signal, a light signal, or any other signal whose intensity is greatest when closest to its transmission source. - Referring to
FIGS. 2 and 3 , therobot 140 includes a round-shaped chassis 142 and ahemispherical shell 144 positioned over thechassis 142 and covering thechassis 142. The center of theshell 144 is aligned with the center of thechassis 142 and the diameter of the shell is equal to or less than that of the chassis. The radius of thechassis 142 is equal to the distances of thecharging connector 122 with respect to both thebarriers 114 and thestop 116. As a result, when therobot 140 is docked in thedocking space 120 against thebarriers 114 and thestop 116, thecharging connector 122 battery charging station aligns with the center portion of theshell 144 and electrically couples to the charging elements in the center portion of theshell 144, thus enabling an electrical connection between therobot 140 and thebattery charging station 110. - The
chassis 142 includes anupper surface 142 a and alower surface 142 b on the flip side of theupper surface 142 a. Threewheels 146 are rotatably mounted on thelower surface 142 b and can be driven by a driving motor (not shown) to drive the robot to move. Thechassis 142 also includes threeextendable legs 148 which can be extended for lifting therobot 140 to electrically connect therobot 140 to thebattery charging station 110 for charging. The length of thelegs 148 with respect to thelower surface 142 b of thechassis 142 is longer than that of thewheels 146 when thelegs 148 are extended. Theextendable legs 148 may be any other types of extensible structure which can be adjusted in length, such as telescopic or folding legs. Thelegs 148 are capable of extending automatically via the driving motors (not shown in the figures). In the present embodiment, an extendingdevice 150 carries out the automatic expansion of thelegs 148. - The extending
device 150 includes asubstrate 152, a drivenportion 156 and adriving motor 160. Thesubstrate 152 includes afirst surface 152 a and asecond surface 152 b corresponding to thefirst surface 152 a. Thesubstrate 152 defines a throughhole 154 on the center portion thereof and is stacked on theupper surface 142 a of thechassis 142 via thesecond surface 152 b. The drivenportion 156 is formed on theupper surface 142 a and protrudes out from thesubstrate 152 by running through the throughhole 154 of thesubstrate 152. Atoothed bar 158 is formed on the side wall of the drivenportion 156 along a direction parallel to the axis of the drivenportion 156. Thedriving motor 160 is mounted on thefirst surface 152 a of thesubstrate 152 and has ashaft 162 and agear 164 connected to an end of theshaft 162. Thegear 164 of thedriving motor 160 is engaged with thetoothed bar 158. Thelegs 148 are separately mounted on thesecond surface 152 b of thesubstrate 152 and partially extends through thechassis 142 from thecorresponding hole 145 defined on thechassis 142. When thegear 164 is rotated by theshaft 162 of the drivingmotor 160, the drivenportion 156 can move upwards or downwards with respect to thegear 164. Accordingly, thechassis 142 connected with the drivenportion 156 moves following the movement of the drivenportion 156. As a result, thelegs 148 can extend or retract fromchassis 142 and lifts or lowers thechassis 142 of therobot 140. As such, therobot 140 can automatically establish an electrical connection with thecharging connector 122 of thebattery charging station 110 for charging. - In addition, the
robot 140 also includes adetection sensor 166 and acontrol device 168, both of which are attached on thefirst surface 152 a of thesubstrate 152. Thecontrol device 168 is configured for controlling therobot 140 to charge automatically when the power of the robot drops to a predefined level. Thedetection sensor 166 is configured for detecting and receiving the signals emitted from thetransmitter 124, subsequently transmitting those signals to thecontrol device 168 for further processing. Thecontrol device 168 is configured for receiving the signals detected by thedetection sensor 166 and determining the location of therobot 140 with respect to thebattery charging station 110 according to the signals, subsequently driving therobot 140 to move towards thebattery charging station 110 by traveling along a predefined traveling trace, and controlling the legs to elongate and uplift therobot 140 for charging power. Alternatively, anavigation system 168 a and adrive system 168 b can be coordinated in thecontrol device 168 to move therobot 140 into thebattery charging station 110. - The
shell 144 is mounted over theupper surface 142 a of thechassis 142 and covers those elements mounted on theupper surface 142 a of thechassis 142 between theshell 144 and thechassis 142. Theshell 144 includes anouter surface 144 a and an inner surface (not shown). The charging elements, such as electricalconductive charging pads 170, are disposed on thedome point 144 b on theouter surface 144 a of theshell 144. Anelectrode 172 is formed on the center portion of thecharging pad 170 in isolation. Thecharging pad 170 and theelectrode 172 are configured for charging a power source (not shown) of therobot 140 when thecharging pad 170 and theelectrode 172 are collectively and electrically coupled to the chargingconnector 122. The power source is mounted on the inner surface of theshell 114 and electronically connected to those driving motors adopted in therobot 140 through thecontrol device 168 for supplying power to therobot 140. In addition, the power source is electrically coupled to thecharging pad 170 and theelectrode 172 and can be recharged by thebattery charging station 110. Alternatively, therobot 140 can also include avoltage sensor 145 mounted on the inner surface of theshell 144 that is electrically coupled to the power source and thecontrol device 168. Thevoltage sensor 145 is configured for detecting the voltage of the power source and sending the detected signal to thecontrol device 168 when the voltage of the power source is below a predetermined voltage or the power source has been fully recharged. - The
robot 140 can also be programmed to dock to thebattery charging station 110 for charging when: 1) its operation has been complete (the operation is predefined); 2) its battery voltage reaches or drops to a predetermined threshold; or 3) a predetermined time for operation has expired. - An exemplary charging operation of the
robot 140 will now be described by referring toFIGS.4-6 , with references toFIGS.1-3 where appropriate. Thecontrol device 168 drives therobot 140 to move towards thebattery charging station 110 along a predetermined path when the robot need to dock. Therobot 140 climbs on theinclined portion 112 a and then arrives to thedocking portion 112 b of thebase 112 along thebarriers 114. When thechassis 142 of therobot 142 touches thestop 116 of thebattery charging station 110, therobot 140 stops moving and is received in thedocking space 120, and thecharging pad 170 and theelectrode 172 of therobot 140 are aligned with the chargingconnector 122. Theextendable legs 148 are extended by the drivingmotor 160 to lift therobot 140, and thecharging pad 170 and theelectrode 172 are raised following the lifting of therobot 140. When thecharging pad 170 and theelectrode 172 are electrically coupled to the chargingconnector 122, the drivingmotor 160 stops, and therobot 140 is recharged by thebattery charging station 110. When thevoltage sensor 145 detects that the power source of therobot 140 has been fully recharged, thevoltage sensor 145 sends a signal to thecontrol device 168 indicating the power source of therobot 140 has been fully recharged. Next, thecontrol device 168 controls thelegs 148 to retract to their original state by the drivingmotor 160. Finally, the fully rechargedrobot 140 can be set to resume operation from thebattery charging station 110, typically by thecontrol device 168, thenavigation system 168 a, and thedrive system 168 b. - It is believed that the present embodiments and their advantages will be understood from the foregoing description, and it will be apparent that various changes may be made thereto without departing from the spirit and scope of the invention or sacrificing all of its material advantages, the examples hereinbefore described merely being preferred or exemplary embodiments of the invention.
Claims (18)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US13/300,676 US8476867B2 (en) | 2008-06-19 | 2011-11-21 | Robot battery charging station |
Applications Claiming Priority (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN200810302207 | 2008-06-19 | ||
CNA2008103022079A CN101607399A (en) | 2008-06-19 | 2008-06-19 | Charging device |
CN200810302207.9 | 2008-06-19 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/300,676 Division US8476867B2 (en) | 2008-06-19 | 2011-11-21 | Robot battery charging station |
Publications (2)
Publication Number | Publication Date |
---|---|
US20090315501A1 true US20090315501A1 (en) | 2009-12-24 |
US8106626B2 US8106626B2 (en) | 2012-01-31 |
Family
ID=41430544
Family Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US12/264,917 Expired - Fee Related US8106626B2 (en) | 2008-06-19 | 2008-11-05 | Robot for use with robot battery charging station |
US13/300,676 Expired - Fee Related US8476867B2 (en) | 2008-06-19 | 2011-11-21 | Robot battery charging station |
Family Applications After (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US13/300,676 Expired - Fee Related US8476867B2 (en) | 2008-06-19 | 2011-11-21 | Robot battery charging station |
Country Status (2)
Country | Link |
---|---|
US (2) | US8106626B2 (en) |
CN (1) | CN101607399A (en) |
Cited By (46)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20110050161A1 (en) * | 2009-08-31 | 2011-03-03 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Battery charger with retractable contacts |
US20110089891A1 (en) * | 2009-10-16 | 2011-04-21 | Micro-Star Internationa'l Co., Ltd. | Electronic device |
US20110234153A1 (en) * | 2010-03-29 | 2011-09-29 | F Robotics Acquisitions Ltd. | Robotic Lawnmower and Charging and Control Systems Therefor |
TWI385493B (en) * | 2010-03-04 | 2013-02-11 | Univ Hungkuang | Automatic charging of hamsters |
US8509981B2 (en) | 2011-05-25 | 2013-08-13 | Toyota Motor Engineering & Manufacturing North America, Inc. | Docking stations for automated guided vehicles |
US20130241475A1 (en) * | 2012-03-19 | 2013-09-19 | Fabrizio Bernini | Apparatus for cutting grass |
EP2656718A1 (en) * | 2012-04-24 | 2013-10-30 | Robert Bosch Gmbh | A ground care apparatus and a charging station apparatus therefor |
EP2679084A1 (en) * | 2012-06-28 | 2014-01-01 | Fabrizio Bernini | Apparatus for cutting grass |
US8838291B2 (en) | 2010-07-07 | 2014-09-16 | Husqvarna Ab | Communication and safety device for boundary aided systems |
US20140292274A1 (en) * | 2013-03-15 | 2014-10-02 | Symbotic, LLC | Rover charging system |
US8998554B2 (en) | 2010-12-15 | 2015-04-07 | Symbotic Llc | Multilevel vertical conveyor platform guides |
US9008884B2 (en) | 2010-12-15 | 2015-04-14 | Symbotic Llc | Bot position sensing |
US20150151646A1 (en) * | 2012-01-17 | 2015-06-04 | Sharp Kabushiki Kaisha | Self-propelled electronic device |
US9051120B2 (en) | 2009-04-10 | 2015-06-09 | Symbotic Llc | Control system for storage and retrieval systems |
US9082112B2 (en) | 2010-12-15 | 2015-07-14 | Symbotic, LLC | Autonomous transport vehicle charging system |
WO2015108454A1 (en) * | 2014-01-16 | 2015-07-23 | Husqvarna Ab | A robotic work tool system and a charging connector arrangement for a robotic work tool system. |
US9242800B2 (en) | 2011-09-09 | 2016-01-26 | Symbotic, LLC | Storage and retrieval system case unit detection |
US20160229060A1 (en) * | 2015-02-06 | 2016-08-11 | Samsung Electronics Co., Ltd. | Apparatus for returning of robot and returning method thereof |
WO2016147571A1 (en) * | 2015-03-13 | 2016-09-22 | パナソニックIpマネジメント株式会社 | Automatic power supply system, automatic power supply device, and autonomous moving system |
US9475649B2 (en) | 2010-12-15 | 2016-10-25 | Symbolic, LLC | Pickface builder for storage and retrieval systems |
US9481517B2 (en) | 2013-03-15 | 2016-11-01 | Symbotic, LLC | Multiposition lift |
CN106451663A (en) * | 2016-11-15 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Automatic wheeled robot charging device |
CN106515484A (en) * | 2016-11-13 | 2017-03-22 | 福州幻科机电科技有限公司 | Automatic induction charging device of hospital intelligent multi-purpose traction vehicle |
WO2017099644A1 (en) * | 2015-12-06 | 2017-06-15 | Robotic Lawn Care Sweden Ab | Method and means for mowing lawns |
US20170164800A1 (en) * | 2014-02-12 | 2017-06-15 | Kabushiki Kaisha Cosmo Life | Pedestal |
WO2017109433A1 (en) * | 2015-12-24 | 2017-06-29 | Partnering 3.0 | Method for recharging the battery of a mobile robot, system, docking station and mobile robot for implementing said method |
US9802761B2 (en) | 2013-03-15 | 2017-10-31 | Symbotic, LLC | Automated storage and retrieval system |
CN109120043A (en) * | 2018-10-23 | 2019-01-01 | 广州赛特智能科技有限公司 | A kind of robot battery charging unit |
DE102017126414A1 (en) * | 2017-11-10 | 2019-05-16 | Vorwerk & Co. Interholding Gmbh | Moist cleaning device for cleaning a surface |
US20190168629A1 (en) * | 2016-04-01 | 2019-06-06 | Locus Robotics Corp. | Electrical charging system for a robot |
CN110165748A (en) * | 2019-06-17 | 2019-08-23 | 国网福建省电力有限公司泉州供电公司 | Charging station on crusing robot line |
CN110215160A (en) * | 2019-05-15 | 2019-09-10 | 湖南格兰博智能科技有限责任公司 | A kind of charging docking structure of intelligent sweeping machine |
KR102021825B1 (en) * | 2018-03-13 | 2019-09-17 | 엘지전자 주식회사 | A cleaner |
CN110890770A (en) * | 2018-09-07 | 2020-03-17 | 沈阳新松机器人自动化股份有限公司 | Patrol and examine robot charging device with safety protection structure |
WO2020062039A1 (en) * | 2018-09-28 | 2020-04-02 | Tti (Macao Commercial Offshore) Limited | A docking station for use with an autonomous tool, an autonomous lawn mower and a method of guiding an autonomous tool towards a docking station |
US10786129B1 (en) * | 2017-09-15 | 2020-09-29 | Ali Ebrahimi Afrouzi | Recharge station with extendable prongs for mobile robot |
US10822168B2 (en) | 2010-12-15 | 2020-11-03 | Symbotic Llc | Warehousing scalable storage structure |
JPWO2019082779A1 (en) * | 2017-10-23 | 2020-11-19 | Groove X株式会社 | Robot charging station |
CN111959313A (en) * | 2020-07-20 | 2020-11-20 | 杭州电子科技大学 | Mobile charging pile robot and charging method thereof |
US10894663B2 (en) | 2013-09-13 | 2021-01-19 | Symbotic Llc | Automated storage and retrieval system |
CN112770658A (en) * | 2018-10-22 | 2021-05-07 | 千叶工业大学 | Storage device |
US20210157328A1 (en) * | 2019-11-22 | 2021-05-27 | Vorwerk & Co. Interholding Gmbh | Base station for a floor processing device, drive wheel for a floor processing device as well as system comprised of a base station and a floor processing device |
CN113054693A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Electrode adjusting mechanism of charging station |
US20210291677A1 (en) * | 2018-12-03 | 2021-09-23 | Groove X, Inc. | Robot charging station |
US11163311B2 (en) | 2015-12-24 | 2021-11-02 | Partnering 3.0 | Robotic equipment including a mobile robot, method for recharging a battery of such mobile robot, and mobile robot docking station |
US11171497B2 (en) | 2016-09-23 | 2021-11-09 | Positec Power Tools (Suzhou) Co., Ltd. | Automatic working system, charging station and method for returning robotic mower to charging station |
Families Citing this family (36)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US9045049B2 (en) * | 2011-08-28 | 2015-06-02 | Irobot Corporation | System and method for in situ charging of a remote vehicle |
KR101964372B1 (en) * | 2012-11-21 | 2019-04-01 | 한화디펜스 주식회사 | Docking module |
CN104571102A (en) * | 2013-10-21 | 2015-04-29 | 苏州宝时得电动工具有限公司 | Butting system |
USD760649S1 (en) | 2015-06-22 | 2016-07-05 | Mtd Products Inc | Docking station |
CN107260071A (en) * | 2016-04-06 | 2017-10-20 | 王方明 | Public sweeping robot system and automatic recharging method |
US11172608B2 (en) | 2016-06-30 | 2021-11-16 | Tti (Macao Commercial Offshore) Limited | Autonomous lawn mower and a system for navigating thereof |
CN109874487B (en) | 2016-06-30 | 2022-11-04 | 创科(澳门离岸商业服务)有限公司 | Autonomous mower and navigation system thereof |
CN108123500A (en) * | 2016-11-28 | 2018-06-05 | 沈阳新松机器人自动化股份有限公司 | A kind of mobile robot charging auxiliary device |
CN106976086A (en) * | 2017-05-10 | 2017-07-25 | 广东电网有限责任公司电力科学研究院 | A kind of charging device |
EP3412132B1 (en) | 2017-06-09 | 2021-05-12 | Andreas Stihl AG & Co. KG | Floor processing system with at least one intensive zone |
EP3412131B1 (en) | 2017-06-09 | 2020-11-11 | Andreas Stihl AG & Co. KG | Floor processing system with signal matching |
EP3412134B1 (en) | 2017-06-09 | 2020-08-19 | Andreas Stihl AG & Co. KG | Ground treatment system with an endless limiting wire |
EP3412135B1 (en) | 2017-06-09 | 2022-09-14 | Andreas Stihl AG & Co. KG | Floor treatment system with at least a charging station with data link |
EP3412133B1 (en) | 2017-06-09 | 2022-09-14 | Andreas Stihl AG & Co. KG | Floor processing system with at least one charging station |
US10913604B2 (en) | 2017-06-21 | 2021-02-09 | Locus Robotics Corp. | System and method for queuing robots destined for one or more processing stations |
US10399443B2 (en) | 2017-09-22 | 2019-09-03 | Locus Robotics Corp. | Autonomous robot charging station |
US10579064B2 (en) | 2017-09-22 | 2020-03-03 | Locus Robotics Corp. | Autonomous robot charging profile selection |
US10401864B2 (en) | 2017-09-22 | 2019-09-03 | Locus Robotics Corp. | Electrical charging system and method for an autonomous robot |
USD835579S1 (en) | 2017-09-22 | 2018-12-11 | Locus Robotics Corp. | Charging station |
US10243379B1 (en) | 2017-09-22 | 2019-03-26 | Locus Robotics Corp. | Robot charging station protective member |
CN107737452A (en) * | 2017-10-27 | 2018-02-27 | 苏州工艺美术职业技术学院 | Children's pet toy |
JP6840068B2 (en) * | 2017-12-12 | 2021-03-10 | 株式会社クボタ | Containment device |
US20220350345A1 (en) * | 2017-12-12 | 2022-11-03 | Kubota Corporation | Accommodation Device |
CN108063414B (en) * | 2018-01-30 | 2021-09-24 | 李宏伟 | High-voltage wire deicing device capable of being stored in wire tower for long time |
CN108521149A (en) * | 2018-04-17 | 2018-09-11 | 武汉斌果科技有限公司 | The intelligent charging spot system and method with robot lower coupling based on camera |
WO2019213824A1 (en) * | 2018-05-07 | 2019-11-14 | 深圳蓝胖子机器人有限公司 | Charging device and charging system |
PT3838096T (en) * | 2018-06-22 | 2021-11-29 | Bissell Inc | Surface cleaning apparatus |
TWI668591B (en) * | 2018-06-28 | 2019-08-11 | 廣達電腦股份有限公司 | Robotic system |
US11191403B2 (en) | 2018-07-20 | 2021-12-07 | Sharkninja Operating Llc | Robotic cleaner debris removal docking station |
CN109193854A (en) * | 2018-10-15 | 2019-01-11 | 北京极智嘉科技有限公司 | A kind of method, apparatus, scheduling system and the storage medium of dispatch robot charging |
US11469604B2 (en) | 2019-09-13 | 2022-10-11 | Echo Incorporated | System for facilitating connection between a charging station and a rechargeable power supply on an operating unit |
CN111251317A (en) * | 2020-02-26 | 2020-06-09 | 安徽延达智能科技有限公司 | Unmanned intelligent mechanical arm robot for face recognition |
CN112137361B (en) * | 2020-09-29 | 2022-08-23 | 江苏苏宁银行股份有限公司 | Multifunctional assembled bank counter |
CN112721698B (en) * | 2021-01-29 | 2022-03-11 | 南通哥润尼电子有限公司 | Charging protection equipment for new energy automobile |
GB2607090B (en) * | 2021-05-28 | 2023-11-15 | Killis Ltd | Apparatus for robotic appliances |
CN117038549B (en) * | 2023-10-10 | 2023-12-12 | 沈阳芯达科技有限公司 | Transfer robot |
Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3857496A (en) * | 1972-10-10 | 1974-12-31 | Mallory & Co Inc P R | Placement robot providing a vertical and horizontal displacement output |
US5629594A (en) * | 1992-12-02 | 1997-05-13 | Cybernet Systems Corporation | Force feedback system |
US5934141A (en) * | 1997-07-24 | 1999-08-10 | Costa; Larry J. | Two-axis cartesian robot |
US20060006316A1 (en) * | 2004-07-09 | 2006-01-12 | Funai Electric Co., Ltd. | Self-running robot |
US20070142972A1 (en) * | 2003-07-11 | 2007-06-21 | Shai Abramson | Autonomous machine for docking with a docking station and method for docking |
US20070216347A1 (en) * | 2006-02-14 | 2007-09-20 | Honda Motor Co., Ltd. | Charging system for legged mobile robot |
US20080301891A1 (en) * | 2007-06-11 | 2008-12-11 | Joon Young Park | Robot mechanism for cleaning and inspection of live-line insulators |
US7895930B2 (en) * | 2007-01-23 | 2011-03-01 | Foster-Miller, Inc. | Weapon mount |
Family Cites Families (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US20080004751A1 (en) * | 2006-06-28 | 2008-01-03 | Samsung Electronics Co., Ltd. | Robot cleaner system and method of controlling the same |
-
2008
- 2008-06-19 CN CNA2008103022079A patent/CN101607399A/en active Pending
- 2008-11-05 US US12/264,917 patent/US8106626B2/en not_active Expired - Fee Related
-
2011
- 2011-11-21 US US13/300,676 patent/US8476867B2/en not_active Expired - Fee Related
Patent Citations (8)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US3857496A (en) * | 1972-10-10 | 1974-12-31 | Mallory & Co Inc P R | Placement robot providing a vertical and horizontal displacement output |
US5629594A (en) * | 1992-12-02 | 1997-05-13 | Cybernet Systems Corporation | Force feedback system |
US5934141A (en) * | 1997-07-24 | 1999-08-10 | Costa; Larry J. | Two-axis cartesian robot |
US20070142972A1 (en) * | 2003-07-11 | 2007-06-21 | Shai Abramson | Autonomous machine for docking with a docking station and method for docking |
US20060006316A1 (en) * | 2004-07-09 | 2006-01-12 | Funai Electric Co., Ltd. | Self-running robot |
US20070216347A1 (en) * | 2006-02-14 | 2007-09-20 | Honda Motor Co., Ltd. | Charging system for legged mobile robot |
US7895930B2 (en) * | 2007-01-23 | 2011-03-01 | Foster-Miller, Inc. | Weapon mount |
US20080301891A1 (en) * | 2007-06-11 | 2008-12-11 | Joon Young Park | Robot mechanism for cleaning and inspection of live-line insulators |
Cited By (114)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11124361B2 (en) | 2009-04-10 | 2021-09-21 | Symbotic Llc | Storage and retrieval system |
US11939158B2 (en) | 2009-04-10 | 2024-03-26 | Symbotic Llc | Storage and retrieval system |
US11858740B2 (en) | 2009-04-10 | 2024-01-02 | Symbotic Llc | Storage and retrieval system |
US9051120B2 (en) | 2009-04-10 | 2015-06-09 | Symbotic Llc | Control system for storage and retrieval systems |
US9771217B2 (en) | 2009-04-10 | 2017-09-26 | Symbotic, LLC | Control system for storage and retrieval systems |
US10239691B2 (en) | 2009-04-10 | 2019-03-26 | Symbotic, LLC | Storage and retrieval system |
US11254501B2 (en) | 2009-04-10 | 2022-02-22 | Symbotic Llc | Storage and retrieval system |
US8253375B2 (en) * | 2009-08-31 | 2012-08-28 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Battery charger with retractable contacts |
US20110050161A1 (en) * | 2009-08-31 | 2011-03-03 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd. | Battery charger with retractable contacts |
US8299750B2 (en) * | 2009-10-16 | 2012-10-30 | Msi Computer (Shenzhen) Co., Ltd. | Electronic device with charging station and main unit recharged by the charging station |
US20110089891A1 (en) * | 2009-10-16 | 2011-04-21 | Micro-Star Internationa'l Co., Ltd. | Electronic device |
TWI385493B (en) * | 2010-03-04 | 2013-02-11 | Univ Hungkuang | Automatic charging of hamsters |
US8930024B2 (en) | 2010-03-29 | 2015-01-06 | F Robotics Acquisitions Ltd. | Robotic lawnmower and charging and control systems therefor |
US20110234153A1 (en) * | 2010-03-29 | 2011-09-29 | F Robotics Acquisitions Ltd. | Robotic Lawnmower and Charging and Control Systems Therefor |
US8838291B2 (en) | 2010-07-07 | 2014-09-16 | Husqvarna Ab | Communication and safety device for boundary aided systems |
US11724890B2 (en) | 2010-12-15 | 2023-08-15 | Symbotic Llc | Pickface builder for storage and retrieval systems |
US10822168B2 (en) | 2010-12-15 | 2020-11-03 | Symbotic Llc | Warehousing scalable storage structure |
US9082112B2 (en) | 2010-12-15 | 2015-07-14 | Symbotic, LLC | Autonomous transport vehicle charging system |
US10696479B2 (en) | 2010-12-15 | 2020-06-30 | Symbotic, LLC | Bot position sensing |
US10221014B2 (en) | 2010-12-15 | 2019-03-05 | Symbotic, LLC | Bot position sensing |
US10207595B2 (en) | 2010-12-15 | 2019-02-19 | Symbotic, LLC | Autonomous transport vehicle charging system |
US9309050B2 (en) | 2010-12-15 | 2016-04-12 | Symbotic, LLC | Bot position sensing |
US10053286B2 (en) | 2010-12-15 | 2018-08-21 | Symbotic, LLC | Bot position sensing |
US9371183B2 (en) | 2010-12-15 | 2016-06-21 | Symbotic, LLC | Multilevel vertical conveyor platform guides |
US9008884B2 (en) | 2010-12-15 | 2015-04-14 | Symbotic Llc | Bot position sensing |
US11884487B2 (en) | 2010-12-15 | 2024-01-30 | Symbotic Llc | Autonomous transport vehicle with position determining system and method therefor |
US11286118B2 (en) | 2010-12-15 | 2022-03-29 | Symbotic Llc | Pickface builder for storage and retrieval systems |
US9475649B2 (en) | 2010-12-15 | 2016-10-25 | Symbolic, LLC | Pickface builder for storage and retrieval systems |
US11279557B2 (en) | 2010-12-15 | 2022-03-22 | Symbotic Llc | Bot position sensing |
US10875722B2 (en) | 2010-12-15 | 2020-12-29 | Symbotic Llc | Pickface builder for storage and retrieval systems |
US9499062B2 (en) | 2010-12-15 | 2016-11-22 | Symbotic Llc | Autonomous transport vehicle charging system |
US9981808B2 (en) | 2010-12-15 | 2018-05-29 | Symbotic, LLC | Pickface builder for storage and retrieval systems |
US8998554B2 (en) | 2010-12-15 | 2015-04-07 | Symbotic Llc | Multilevel vertical conveyor platform guides |
US11807127B2 (en) | 2010-12-15 | 2023-11-07 | Symbotic Llc | Autonomous transport vehicle charging system |
US10981463B2 (en) | 2010-12-15 | 2021-04-20 | Symbolic Llc | Autonomous transport vehicle charging system |
US9758049B2 (en) | 2010-12-15 | 2017-09-12 | Symbotic, LLC | Autonomous transport vehicle charging system |
US10449872B2 (en) | 2010-12-15 | 2019-10-22 | Symbotic, LLC | Autonomous transport vehicle charging system |
US11565602B2 (en) | 2010-12-15 | 2023-01-31 | Symbolic Llc | Autonomous transport vehicle charging system |
US8509981B2 (en) | 2011-05-25 | 2013-08-13 | Toyota Motor Engineering & Manufacturing North America, Inc. | Docking stations for automated guided vehicles |
US11767167B2 (en) | 2011-09-09 | 2023-09-26 | Symbotic Llc | Storage and retrieval system case unit detection |
US10029850B2 (en) | 2011-09-09 | 2018-07-24 | Symbotic, LLC | Storage and retrieval system case unit detection |
US9242800B2 (en) | 2011-09-09 | 2016-01-26 | Symbotic, LLC | Storage and retrieval system case unit detection |
US9776794B2 (en) | 2011-09-09 | 2017-10-03 | Symbotic, LLC | Storage and retrieval system case unit detection |
US11279558B2 (en) | 2011-09-09 | 2022-03-22 | Symbotic Llc | Storage and retrieval system case unit detection |
US9517885B2 (en) | 2011-09-09 | 2016-12-13 | Symbotic Llc | Storage and retrieval system case unit detection |
US10710804B2 (en) | 2011-09-09 | 2020-07-14 | Symbotic, LLC | Storage and retrieval system case unit detection |
US10252859B2 (en) | 2011-09-09 | 2019-04-09 | Symbotic, LLC | Storage and retrieval system case unit detection |
US9340116B2 (en) * | 2012-01-17 | 2016-05-17 | Sharp Kabushiki Kaisha | Self-propelled electronic device |
US20150151646A1 (en) * | 2012-01-17 | 2015-06-04 | Sharp Kabushiki Kaisha | Self-propelled electronic device |
US20130241475A1 (en) * | 2012-03-19 | 2013-09-19 | Fabrizio Bernini | Apparatus for cutting grass |
US9173344B2 (en) * | 2012-03-19 | 2015-11-03 | Fabrizio Bernini | Apparatus for cutting grass |
EP2656718A1 (en) * | 2012-04-24 | 2013-10-30 | Robert Bosch Gmbh | A ground care apparatus and a charging station apparatus therefor |
EP2679084A1 (en) * | 2012-06-28 | 2014-01-01 | Fabrizio Bernini | Apparatus for cutting grass |
US9481517B2 (en) | 2013-03-15 | 2016-11-01 | Symbotic, LLC | Multiposition lift |
US11858742B2 (en) | 2013-03-15 | 2024-01-02 | Symbotic Llc | Multiposition lift |
US11273983B2 (en) | 2013-03-15 | 2022-03-15 | Symbotic Llc | Multiposition lift |
US9988213B2 (en) | 2013-03-15 | 2018-06-05 | Symbotic, LLC | Automated storage and retrieval system |
US9802761B2 (en) | 2013-03-15 | 2017-10-31 | Symbotic, LLC | Automated storage and retrieval system |
US20140292274A1 (en) * | 2013-03-15 | 2014-10-02 | Symbotic, LLC | Rover charging system |
US11414271B2 (en) | 2013-03-15 | 2022-08-16 | Symbotic Llc | Automated storage and retrieval system |
US11939161B2 (en) | 2013-03-15 | 2024-03-26 | Symbotic Llc | Automated storage and retrieval system |
US11565598B2 (en) * | 2013-03-15 | 2023-01-31 | Symbotic Llc | Rover charging system with one or more charging stations configured to control an output of the charging station independent of a charging station status |
US10457484B2 (en) | 2013-03-15 | 2019-10-29 | Symbotic, LLC | Automated storage and retrieval system |
US10035650B2 (en) | 2013-03-15 | 2018-07-31 | Symbotic Llc | Multiposition lift |
US9469208B2 (en) | 2013-03-15 | 2016-10-18 | Symbotic, LLC | Rover charging system |
US10730699B2 (en) | 2013-03-15 | 2020-08-04 | Symbotic Llc | Multiposition lift |
US10683170B2 (en) | 2013-03-15 | 2020-06-16 | Symbotic, LLC | Automated storage and retrieval system |
US10894663B2 (en) | 2013-09-13 | 2021-01-19 | Symbotic Llc | Automated storage and retrieval system |
US11072255B2 (en) | 2014-01-16 | 2021-07-27 | Husqvarna Ab | Robotic work tool system and a charging connector arrangement for a robotic work tool system |
WO2015108454A1 (en) * | 2014-01-16 | 2015-07-23 | Husqvarna Ab | A robotic work tool system and a charging connector arrangement for a robotic work tool system. |
US20160332526A1 (en) * | 2014-01-16 | 2016-11-17 | Husqvarna Ab | Robotic work tool system and a charging connector arrangement for a robotic work tool system |
US10518651B2 (en) * | 2014-01-16 | 2019-12-31 | Husqvarna Ab | Robotic work tool system and a charging connector arrangement for a robotic work tool system |
US11701979B2 (en) | 2014-01-16 | 2023-07-18 | Husqvarna Ab | Robotic work tool system and a charging connector arrangement for a robotic work tool system |
US20170164800A1 (en) * | 2014-02-12 | 2017-06-15 | Kabushiki Kaisha Cosmo Life | Pedestal |
US20160229060A1 (en) * | 2015-02-06 | 2016-08-11 | Samsung Electronics Co., Ltd. | Apparatus for returning of robot and returning method thereof |
US9751214B2 (en) * | 2015-02-06 | 2017-09-05 | Samsung Electronics Co., Ltd. | Apparatus for returning of robot and returning method thereof |
WO2016147571A1 (en) * | 2015-03-13 | 2016-09-22 | パナソニックIpマネジメント株式会社 | Automatic power supply system, automatic power supply device, and autonomous moving system |
US10023060B2 (en) | 2015-03-13 | 2018-07-17 | Panasonic Intellectual Property Management Co., Ltd. | Automatic power supply system, automatic power supply device, and autonomous moving system |
JPWO2016147571A1 (en) * | 2015-03-13 | 2017-04-27 | パナソニックIpマネジメント株式会社 | Automatic power supply system, automatic power supply device and autonomous mobile system |
WO2017099644A1 (en) * | 2015-12-06 | 2017-06-15 | Robotic Lawn Care Sweden Ab | Method and means for mowing lawns |
AU2016366970B2 (en) * | 2015-12-06 | 2021-07-22 | Robotic Lawn Care Sweden Ab | Method and means for mowing lawns |
EP4270140A3 (en) * | 2015-12-06 | 2024-01-03 | Robotic Lawn Care Sweden AB | Method and means for mowing lawns |
US11252863B2 (en) | 2015-12-06 | 2022-02-22 | Robotic Lawn Care Sweden Ab | System for mowing lawns with robotic lawn mowers and a charging mobile carrier |
WO2017109433A1 (en) * | 2015-12-24 | 2017-06-29 | Partnering 3.0 | Method for recharging the battery of a mobile robot, system, docking station and mobile robot for implementing said method |
FR3046305A1 (en) * | 2015-12-24 | 2017-06-30 | Partnering 3 0 | METHOD FOR RECHARGING THE BATTERY OF A MOBILE ROBOT, SYSTEM, RECEPTION STATION AND MOBILE ROBOT FOR IMPLEMENTING THE METHOD |
US11163311B2 (en) | 2015-12-24 | 2021-11-02 | Partnering 3.0 | Robotic equipment including a mobile robot, method for recharging a battery of such mobile robot, and mobile robot docking station |
US20190168629A1 (en) * | 2016-04-01 | 2019-06-06 | Locus Robotics Corp. | Electrical charging system for a robot |
US10906419B2 (en) * | 2016-04-01 | 2021-02-02 | Locus Robotics Corp. | Electrical charging system for a robot |
US11171497B2 (en) | 2016-09-23 | 2021-11-09 | Positec Power Tools (Suzhou) Co., Ltd. | Automatic working system, charging station and method for returning robotic mower to charging station |
CN106515484A (en) * | 2016-11-13 | 2017-03-22 | 福州幻科机电科技有限公司 | Automatic induction charging device of hospital intelligent multi-purpose traction vehicle |
CN106451663A (en) * | 2016-11-15 | 2017-02-22 | 哈工大机器人集团上海有限公司 | Automatic wheeled robot charging device |
US10786129B1 (en) * | 2017-09-15 | 2020-09-29 | Ali Ebrahimi Afrouzi | Recharge station with extendable prongs for mobile robot |
JP7137851B2 (en) | 2017-10-23 | 2022-09-15 | Groove X株式会社 | Robot charging station |
JPWO2019082779A1 (en) * | 2017-10-23 | 2020-11-19 | Groove X株式会社 | Robot charging station |
DE102017126414A1 (en) * | 2017-11-10 | 2019-05-16 | Vorwerk & Co. Interholding Gmbh | Moist cleaning device for cleaning a surface |
CN112118777A (en) * | 2018-03-13 | 2020-12-22 | Lg电子株式会社 | Cleaning device |
US11297991B2 (en) * | 2018-03-13 | 2022-04-12 | Lg Electronics Inc. | Cleaner |
KR102021825B1 (en) * | 2018-03-13 | 2019-09-17 | 엘지전자 주식회사 | A cleaner |
WO2019177365A1 (en) * | 2018-03-13 | 2019-09-19 | Lg Electronics Inc. | Cleaner |
CN110890770A (en) * | 2018-09-07 | 2020-03-17 | 沈阳新松机器人自动化股份有限公司 | Patrol and examine robot charging device with safety protection structure |
EP3855878A4 (en) * | 2018-09-28 | 2022-04-27 | Techtronic Cordless GP | A docking station for use with an autonomous tool, an autonomous lawn mower and a method of guiding an autonomous tool towards a docking station |
CN112911923A (en) * | 2018-09-28 | 2021-06-04 | 创科无线普通合伙 | Docking station for use with an autonomous tool, autonomous lawn mower, and method of guiding an autonomous tool towards a docking station |
US20210315155A1 (en) * | 2018-09-28 | 2021-10-14 | Techtronic Cordless Gp | A docking station for use with an autonomous tool, an autonomous lawn mower and a method of guiding an autonomous tool towards a docking station |
WO2020062039A1 (en) * | 2018-09-28 | 2020-04-02 | Tti (Macao Commercial Offshore) Limited | A docking station for use with an autonomous tool, an autonomous lawn mower and a method of guiding an autonomous tool towards a docking station |
CN112770658A (en) * | 2018-10-22 | 2021-05-07 | 千叶工业大学 | Storage device |
CN109120043A (en) * | 2018-10-23 | 2019-01-01 | 广州赛特智能科技有限公司 | A kind of robot battery charging unit |
US11926230B2 (en) * | 2018-12-03 | 2024-03-12 | Groove X, Inc. | Robot charging station |
US20210291677A1 (en) * | 2018-12-03 | 2021-09-23 | Groove X, Inc. | Robot charging station |
CN110215160A (en) * | 2019-05-15 | 2019-09-10 | 湖南格兰博智能科技有限责任公司 | A kind of charging docking structure of intelligent sweeping machine |
CN110165748A (en) * | 2019-06-17 | 2019-08-23 | 国网福建省电力有限公司泉州供电公司 | Charging station on crusing robot line |
US11789451B2 (en) * | 2019-11-22 | 2023-10-17 | Vorwerk & Co. Interholding Gmbh | Base station for a floor processing device, drive wheel for a floor processing device as well as system comprised of a base station and a floor processing device |
US20210157328A1 (en) * | 2019-11-22 | 2021-05-27 | Vorwerk & Co. Interholding Gmbh | Base station for a floor processing device, drive wheel for a floor processing device as well as system comprised of a base station and a floor processing device |
CN113054693A (en) * | 2019-12-27 | 2021-06-29 | 沈阳新松机器人自动化股份有限公司 | Electrode adjusting mechanism of charging station |
CN111959313A (en) * | 2020-07-20 | 2020-11-20 | 杭州电子科技大学 | Mobile charging pile robot and charging method thereof |
Also Published As
Publication number | Publication date |
---|---|
CN101607399A (en) | 2009-12-23 |
US20120062170A1 (en) | 2012-03-15 |
US8476867B2 (en) | 2013-07-02 |
US8106626B2 (en) | 2012-01-31 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US8106626B2 (en) | Robot for use with robot battery charging station | |
EP3484677B1 (en) | Autonomous robot auto-docking and energy management systems and methods | |
US11292136B2 (en) | Mobile robot docking systems and methods | |
CN109562519B (en) | Mobile robot and control method thereof | |
KR100595571B1 (en) | Robot cleaner | |
US7133746B2 (en) | Autonomous machine for docking with a docking station and method for docking | |
KR101154662B1 (en) | An autonomous robotic device | |
US7765635B2 (en) | Cleaning robot | |
KR101484940B1 (en) | Robot cleaner and control method thereof | |
US9340116B2 (en) | Self-propelled electronic device | |
US7418762B2 (en) | Self-propelled cleaning device and charger using the same | |
JP2004237075A (en) | Robot cleaner system provided with external charger and connection method for robot cleaner to external charger | |
TW201808196A (en) | Charging station particularly for cleaning equipment cwhich can facilitates the charging element to achieve the optimum orientation and/or position | |
JP7113352B2 (en) | Moving body holding device and control program | |
KR20180079069A (en) | Cleaner | |
KR100899409B1 (en) | Robot cleaner apparatus and method for controling process | |
JP2007156884A (en) | Self-propelled cleaner system | |
KR100517942B1 (en) | Apparatus for controlling height of suction head in robot cleaner and method thereof | |
KR100471140B1 (en) | Robot cleaner system having external charging apparatus | |
KR101121416B1 (en) | Moving apparatus having liquid sensing device | |
EP3878339A1 (en) | Wheel assembly structure for preventing wheel slip and mobile robot using the same | |
JP6967468B2 (en) | Docking control method for self-propelled electronic devices and charging stand used for it | |
JP2022039153A (en) | Autonomous travel type cleaner and autonomous travel type cleaner system and moving body | |
KR100726199B1 (en) | Automobile cleaner | |
AU2022337419A1 (en) | Button structure, liquid storage tank, and automatic cleaning device |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AS | Assignment |
Owner name: HONG FU JIN PRECISION INDUSTRY (SHENZHEN) CO., LTD Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:LI, XIONG;SIP, KIM-YEUNG;REEL/FRAME:021786/0147 Effective date: 20081029 Owner name: HON HAI PRECISION INDUSTRY CO., LTD., TAIWAN Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:LI, XIONG;SIP, KIM-YEUNG;REEL/FRAME:021786/0147 Effective date: 20081029 |
|
REMI | Maintenance fee reminder mailed | ||
LAPS | Lapse for failure to pay maintenance fees | ||
STCH | Information on status: patent discontinuation |
Free format text: PATENT EXPIRED DUE TO NONPAYMENT OF MAINTENANCE FEES UNDER 37 CFR 1.362 |
|
FP | Lapsed due to failure to pay maintenance fee |
Effective date: 20160131 |